Interactive Robot Learning of Gestures, Language and Affordances

A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to human-robot teams, primarily because human teams can easily agree on a common goal with language, and the individual members observe each other effectively, leveraging their shared motor repertoire and sensorimotor resources. This paper shows that for cognitive robots it is possible, and indeed fruitful, to combine knowledge acquired from interacting with elements of the environment (affordance exploration) with the probabilistic observation of another agent's actions. We propose a model that unites (i) learning robot affordances and word descriptions with (ii) statistical recognition of human gestures with vision sensors. We discuss theoretical motivations, possible implementations, and we show initial results which highlight that, after having acquired knowledge of its surrounding environment, a humanoid robot can generalize this knowledge to the case when it observes another agent (human partner) performing the same motor actions previously executed during training.Comment: code available at https://github.com/gsaponaro/glu-gesture

Grounding semantics in robots for Visual Question Answering

In this thesis I describe an operational implementation of an object detection and description system that incorporates in an end-to-end Visual Question Answering system and evaluated it on two visual question answering datasets for compositional language and elementary visual reasoning

Multi-layer Architecture For Storing Visual Data Based on WCF and Microsoft SQL Server Database

In this paper we present a novel architecture for storing visual data. Effective storing, browsing and searching collections of images is one of the most important challenges of computer science. The design of architecture for storing such data requires a set of tools and frameworks such as SQL database management systems and service-oriented frameworks. The proposed solution is based on a multi-layer architecture, which allows to replace any component without recompilation of other components. The approach contains five components, i.e. Model, Base Engine, Concrete Engine, CBIR service and Presentation. They were based on two well-known design patterns: Dependency Injection and Inverse of Control. For experimental purposes we implemented the SURF local interest point detector as a feature extractor and $K$-means clustering as indexer. The presented architecture is intended for content-based retrieval systems simulation purposes as well as for real-world CBIR tasks.Comment: Accepted for the 14th International Conference on Artificial Intelligence and Soft Computing, ICAISC, June 14-18, 2015, Zakopane, Polan

Deferred Action: Theoretical model of process architecture design for emergent business processes

E-Business modelling and ebusiness systems development assumes fixed company resources, structures, and business processes. Empirical and theoretical evidence suggests that company resources and structures are emergent rather than fixed. Planning business activity in emergent contexts requires flexible ebusiness models based on better management theories and models . This paper builds and proposes a theoretical model of ebusiness systems capable of catering for emergent factors that affect business processes. Drawing on development of theories of the ‘action and design’class the Theory of Deferred Action is invoked as the base theory for the theoretical model. A theoretical model of flexible process architecture is presented by identifying its core components and their relationships, and then illustrated with exemplar flexible process architectures capable of responding to emergent factors. Managerial implications of the model are considered and the model’s generic applicability is discussed

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Lifelong Learning of Spatiotemporal Representations with Dual-Memory Recurrent Self-Organization

Artificial autonomous agents and robots interacting in complex environments are required to continually acquire and fine-tune knowledge over sustained periods of time. The ability to learn from continuous streams of information is referred to as lifelong learning and represents a long-standing challenge for neural network models due to catastrophic forgetting. Computational models of lifelong learning typically alleviate catastrophic forgetting in experimental scenarios with given datasets of static images and limited complexity, thereby differing significantly from the conditions artificial agents are exposed to. In more natural settings, sequential information may become progressively available over time and access to previous experience may be restricted. In this paper, we propose a dual-memory self-organizing architecture for lifelong learning scenarios. The architecture comprises two growing recurrent networks with the complementary tasks of learning object instances (episodic memory) and categories (semantic memory). Both growing networks can expand in response to novel sensory experience: the episodic memory learns fine-grained spatiotemporal representations of object instances in an unsupervised fashion while the semantic memory uses task-relevant signals to regulate structural plasticity levels and develop more compact representations from episodic experience. For the consolidation of knowledge in the absence of external sensory input, the episodic memory periodically replays trajectories of neural reactivations. We evaluate the proposed model on the CORe50 benchmark dataset for continuous object recognition, showing that we significantly outperform current methods of lifelong learning in three different incremental learning scenario

Simulation of complex environments:the Fuzzy Cognitive Agent

The world is becoming increasingly competitive by the action of liberalised national and global markets. In parallel these markets have become increasingly complex making it difficult for participants to optimise their trading actions. In response, many differing computer simulation techniques have been investigated to develop either a deeper understanding of these evolving markets or to create effective system support tools. In this paper we report our efforts to develop a novel simulation platform using fuzzy cognitive agents (FCA). Our approach encapsulates fuzzy cognitive maps (FCM) generated on the Matlab Simulink platform within commercially available agent software. We firstly present our implementation of Matlab Simulink FCMs and then show how such FCMs can be integrated within a conceptual FCA architecture. Finally we report on our efforts to realise an FCA by the integration of a Matlab Simulink based FCM with the Jack Intelligent Agent Toolkit